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   &#160;<span id="projectnumber">v0.1.0</span>
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<li class="navelem"><a class="el" href="dir_692f640cc74363071c5c0e14282656e9.html">algorithm</a></li>  </ul>
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<div class="title">wbc_priority.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;qpOASES.hpp&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;data_bus.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;useful_math.h&quot;</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;priority_tasks.h&quot;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;pino_kin_dyn.h&quot;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;iomanip&gt;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classWBC__priority.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classWBC__priority.html">WBC_priority</a></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">   27</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>;              </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a89bb360d72ea2ceb80bcc714427978a1">   28</a></span>&#160;    Eigen::Vector3d <a class="code" href="classWBC__priority.html#a89bb360d72ea2ceb80bcc714427978a1">tau_upp_L</a>; </div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ad031c3a10312ef84c6f587a80cf7ea16">   29</a></span>&#160;    Eigen::Vector3d <a class="code" href="classWBC__priority.html#ad031c3a10312ef84c6f587a80cf7ea16">tau_low_L</a>; </div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a835eb7c5c5a382770ec08294bb3a072b">   30</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classWBC__priority.html#a835eb7c5c5a382770ec08294bb3a072b">f_z_low</a>{0},         </div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a43d29119681f29138bf209c027951505">   31</a></span>&#160;        <a class="code" href="classWBC__priority.html#a43d29119681f29138bf209c027951505">f_z_upp</a>{0};            </div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">   32</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">legStateCur</a>;           </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="classWBC__priority.html#a8c838694a7fa3038bb56923679050bea">WBC_priority</a>(<span class="keywordtype">int</span> model_nv_In, <span class="keywordtype">int</span> QP_nvIn, <span class="keywordtype">int</span> QP_ncIn, <span class="keywordtype">double</span> miu_In, <span class="keywordtype">double</span> dt);</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">   44</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">miu</a>{0.5};                   </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">   45</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">dyn_M</a>,             </div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ad9d3684eeccb5f31dcbd0068d2d3b130">   46</a></span>&#160;        <a class="code" href="classWBC__priority.html#ad9d3684eeccb5f31dcbd0068d2d3b130">dyn_M_inv</a>,                     </div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ac567541e708cee14da44b5e1ff1cbd11">   47</a></span>&#160;        <a class="code" href="classWBC__priority.html#ac567541e708cee14da44b5e1ff1cbd11">dyn_Ag</a>,                        </div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a19c84ca7e1268b73b4de35426d026d1c">   48</a></span>&#160;        <a class="code" href="classWBC__priority.html#a19c84ca7e1268b73b4de35426d026d1c">dyn_dAg</a>;                       </div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">   49</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">dyn_Non</a>;           </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">   50</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">Jc</a>,                </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">   51</a></span>&#160;        <a class="code" href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">dJc</a>,                           </div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">   52</a></span>&#160;        <a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>,                           </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a364b8179d23d33e89296ad61e352a9db">   53</a></span>&#160;        <a class="code" href="classWBC__priority.html#a364b8179d23d33e89296ad61e352a9db">Jfe_L</a>,                         </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ac612a1dc22bf476a8e4fdb430e69eac1">   54</a></span>&#160;        <a class="code" href="classWBC__priority.html#ac612a1dc22bf476a8e4fdb430e69eac1">Jfe_R</a>;                         </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ad4278ea3aca9cc98c8c1ff411204e211">   55</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classWBC__priority.html#ad4278ea3aca9cc98c8c1ff411204e211">J_hd_l</a>,            </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ab2950b524448c63af91ce7b713aec947">   56</a></span>&#160;        <a class="code" href="classWBC__priority.html#ab2950b524448c63af91ce7b713aec947">J_hd_r</a>,                        </div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a4912d86b01e6bb6b48e4f8ac60f24cce">   57</a></span>&#160;        <a class="code" href="classWBC__priority.html#a4912d86b01e6bb6b48e4f8ac60f24cce">dJ_hd_l</a>,                       </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a5c7a80ed75a31dd24a2732852f12e4b1">   58</a></span>&#160;        <a class="code" href="classWBC__priority.html#a5c7a80ed75a31dd24a2732852f12e4b1">dJ_hd_r</a>;                       </div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">   59</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">Jsw</a>,               </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">   60</a></span>&#160;        <a class="code" href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">dJsw</a>;                          </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">   61</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">fe_rot_sw_W</a>;       </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">   62</a></span>&#160;    Eigen::Vector3d <a class="code" href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">fe_pos_sw_W</a>;       </div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ab25e91d2356c16769cc18c9355338587">   63</a></span>&#160;    Eigen::Vector3d <a class="code" href="classWBC__priority.html#ab25e91d2356c16769cc18c9355338587">hd_l_pos_cur_W</a>,    </div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ada612b26865fc9a977e6cecaa813c6a4">   64</a></span>&#160;        <a class="code" href="classWBC__priority.html#ada612b26865fc9a977e6cecaa813c6a4">hd_r_pos_cur_W</a>;                </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a377b89be889b9a1d221e041ec6621f0a">   65</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classWBC__priority.html#a377b89be889b9a1d221e041ec6621f0a">hd_l_rot_cur_W</a>,    </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a380db2c47e2752ebebe6aab083051f4f">   66</a></span>&#160;        <a class="code" href="classWBC__priority.html#a380db2c47e2752ebebe6aab083051f4f">hd_r_rot_cur_W</a>;                </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">   67</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>,                 </div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">   68</a></span>&#160;        <a class="code" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">dq</a>,                            </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classWBC__priority.html#adacd4ee75f80b37e9fb0779bf9cf98a7">   69</a></span>&#160;        <a class="code" href="classWBC__priority.html#adacd4ee75f80b37e9fb0779bf9cf98a7">ddq</a>;                           </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">   70</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">Fr_ff</a>;             </div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a328bcfe2189e0f4e6242db7fc945ee06">   71</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#a328bcfe2189e0f4e6242db7fc945ee06">delta_ddq</a>;         </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a29eb5f45b965f751d8c21983313744b3">   72</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#a29eb5f45b965f751d8c21983313744b3">delta_Fr</a>;          </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">   73</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">eigen_xOpt</a>;        </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">   74</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">eigen_ddq_Opt</a>;     </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">   75</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">eigen_fr_Opt</a>,      </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a78ee8266d45373be050708733b7ac928">   76</a></span>&#160;        <a class="code" href="classWBC__priority.html#a78ee8266d45373be050708733b7ac928">eigen_tau_Opt</a>;                 </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classWBC__priority.html#af7eb60ca2fb34b7bcd10f488384e7a95">   77</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classWBC__priority.html#af7eb60ca2fb34b7bcd10f488384e7a95">Q1</a>;                </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a24cd63af227e80cfabfa7f9265a8270d">   78</a></span>&#160;    Eigen::MatrixXd <a class="code" href="classWBC__priority.html#a24cd63af227e80cfabfa7f9265a8270d">Q2</a>;                </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">   79</a></span>&#160;    Eigen::VectorXd <a class="code" href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">delta_q_final_kin</a>, </div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">   80</a></span>&#160;        <a class="code" href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">dq_final_kin</a>,                  </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">   81</a></span>&#160;        <a class="code" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">ddq_final_kin</a>,                 </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a1193aad27a9cafd2b447a91fcb252103">   82</a></span>&#160;        <a class="code" href="classWBC__priority.html#a1193aad27a9cafd2b447a91fcb252103">tauJointRes</a>;                   </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">   83</a></span>&#160;    Eigen::Matrix3d <a class="code" href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">fe_L_rot_L_off</a>,    </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a480a21e54d4f6d9ce948eaf92c7e6ea4">   84</a></span>&#160;        <a class="code" href="classWBC__priority.html#a480a21e54d4f6d9ce948eaf92c7e6ea4">fe_R_rot_L_off</a>;                </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">   85</a></span>&#160;    <a class="code" href="classPriorityTasks.html">PriorityTasks</a> <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>;           </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#ad7a8bfff2aa05dcedeb6e3e656d3c6fd">setQini</a>(<span class="keyword">const</span> Eigen::VectorXd &amp;qIni);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#adf9a6a3385417332666e2157b6903fe9">computeTau</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#a7ed27e44e3d0044570620d3679f26389">dataBusRead</a>(<span class="keyword">const</span> <a class="code" href="structDataBus.html">DataBus</a> &amp;robotState);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#a1504c45533bea5c9b6a4a87648db0c0c">dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#a7cb65e689671b04b1b4bca685602abaa">computeDdq</a>(<a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a> &amp;kinSolver);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordtype">double</span> timeStep{0.001}; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    qpOASES::QProblem QP_prob;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    Eigen::MatrixXd Sf;               </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    Eigen::MatrixXd St_qpV1, St_qpV2; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    qpOASES::int_t nWSR = 100, last_nWSR{0};</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    qpOASES::real_t cpu_time = 0.1, last_cpu_time{0};</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">int</span> qpStatus{0}; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordtype">int</span> QP_nv;       </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">int</span> QP_nc;       </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">void</span> copy_Eigen_to_real_t(qpOASES::real_t *target, <span class="keyword">const</span> Eigen::MatrixXd &amp;source, <span class="keywordtype">int</span> nRows, <span class="keywordtype">int</span> nCols);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    Eigen::MatrixXd J_base,              </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        dJ_base,                         </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        base_rot;                        </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    Eigen::VectorXd base_pos_des,        </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        base_pos,                        </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        base_rpy_des,                    </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        base_rpy_cur;                    </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    Eigen::VectorXd swing_fe_pos_des_W,  </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        swing_fe_rpy_des_W;              </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    Eigen::Vector3d stance_fe_pos_cur_W; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    Eigen::Matrix3d stance_fe_rot_cur_W; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    Eigen::Vector3d stanceDesPos_W;      </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    Eigen::VectorXd des_ddq,             </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        des_dq,                          </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        des_delta_q,                     </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        des_q;                           </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    Eigen::VectorXd qIniDes;             </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> QP_nv_des = 18;    </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> QP_nc_des = 22;    </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    qpOASES::real_t qp_H[QP_nv_des * QP_nv_des];</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    qpOASES::real_t qp_A[QP_nc_des * QP_nv_des];</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    qpOASES::real_t qp_g[QP_nv_des];</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    qpOASES::real_t qp_lbA[QP_nc_des];</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    qpOASES::real_t qp_ubA[QP_nc_des];</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    qpOASES::real_t xOpt_iniGuess[QP_nv_des];</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;};</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassWBC__priority_html_a1504c45533bea5c9b6a4a87648db0c0c"><div class="ttname"><a href="classWBC__priority.html#a1504c45533bea5c9b6a4a87648db0c0c">WBC_priority::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;robotState)</div><div class="ttdoc">write data to databus</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00138">wbc_priority.cpp:138</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a03d1a9c1e92ed193b06b4606b3698d71"><div class="ttname"><a href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">WBC_priority::Jc</a></div><div class="ttdeci">Eigen::MatrixXd Jc</div><div class="ttdoc">jacobian matrix of foot contact</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00050">wbc_priority.h:50</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ada612b26865fc9a977e6cecaa813c6a4"><div class="ttname"><a href="classWBC__priority.html#ada612b26865fc9a977e6cecaa813c6a4">WBC_priority::hd_r_pos_cur_W</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_cur_W</div><div class="ttdoc">current right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00064">wbc_priority.h:64</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a690988c51a899e4ed196c80326efcba0"><div class="ttname"><a href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">WBC_priority::dJc</a></div><div class="ttdeci">Eigen::MatrixXd dJc</div><div class="ttdoc">jacobian time variation matrix of foot contact</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00051">wbc_priority.h:51</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a0cfc5cc63af24a7e8d04f4ef360ba20e"><div class="ttname"><a href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">WBC_priority::eigen_fr_Opt</a></div><div class="ttdeci">Eigen::VectorXd eigen_fr_Opt</div><div class="ttdoc">final reaction force of two legs after DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00075">wbc_priority.h:75</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a071214fcca162d0a68d66b7eda3d5a77"><div class="ttname"><a href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">WBC_priority::delta_q_final_kin</a></div><div class="ttdeci">Eigen::VectorXd delta_q_final_kin</div><div class="ttdoc">delta_q result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00079">wbc_priority.h:79</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a605e33bf1886ad1fe93e120a984b5085"><div class="ttname"><a href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">WBC_priority::fe_pos_sw_W</a></div><div class="ttdeci">Eigen::Vector3d fe_pos_sw_W</div><div class="ttdoc">current swing foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00062">wbc_priority.h:62</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_adf9a6a3385417332666e2157b6903fe9"><div class="ttname"><a href="classWBC__priority.html#adf9a6a3385417332666e2157b6903fe9">WBC_priority::computeTau</a></div><div class="ttdeci">void computeTau()</div><div class="ttdoc">compute the desired joint torques, basically the DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00151">wbc_priority.cpp:151</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad4278ea3aca9cc98c8c1ff411204e211"><div class="ttname"><a href="classWBC__priority.html#ad4278ea3aca9cc98c8c1ff411204e211">WBC_priority::J_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00055">wbc_priority.h:55</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a3104af953a95b48eec6a05798f8b0110"><div class="ttname"><a href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">WBC_priority::legStateCur</a></div><div class="ttdeci">int legStateCur</div><div class="ttdoc">current leg swing or stance state</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00032">wbc_priority.h:32</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a377b89be889b9a1d221e041ec6621f0a"><div class="ttname"><a href="classWBC__priority.html#a377b89be889b9a1d221e041ec6621f0a">WBC_priority::hd_l_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_cur_W</div><div class="ttdoc">current left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00065">wbc_priority.h:65</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a7ed27e44e3d0044570620d3679f26389"><div class="ttname"><a href="classWBC__priority.html#a7ed27e44e3d0044570620d3679f26389">WBC_priority::dataBusRead</a></div><div class="ttdeci">void dataBusRead(const DataBus &amp;robotState)</div><div class="ttdoc">read data from databus</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00073">wbc_priority.cpp:73</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_adacd4ee75f80b37e9fb0779bf9cf98a7"><div class="ttname"><a href="classWBC__priority.html#adacd4ee75f80b37e9fb0779bf9cf98a7">WBC_priority::ddq</a></div><div class="ttdeci">Eigen::VectorXd ddq</div><div class="ttdoc">current robot generalized acceleration</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00069">wbc_priority.h:69</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a8c838694a7fa3038bb56923679050bea"><div class="ttname"><a href="classWBC__priority.html#a8c838694a7fa3038bb56923679050bea">WBC_priority::WBC_priority</a></div><div class="ttdeci">WBC_priority(int model_nv_In, int QP_nvIn, int QP_ncIn, double miu_In, double dt)</div><div class="ttdoc">Construct a new wbc priority object.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00012">wbc_priority.cpp:12</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a328bcfe2189e0f4e6242db7fc945ee06"><div class="ttname"><a href="classWBC__priority.html#a328bcfe2189e0f4e6242db7fc945ee06">WBC_priority::delta_ddq</a></div><div class="ttdeci">Eigen::VectorXd delta_ddq</div><div class="ttdoc">delta_ddq to correction in DynWBC, NOT USE</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00071">wbc_priority.h:71</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a29eb5f45b965f751d8c21983313744b3"><div class="ttname"><a href="classWBC__priority.html#a29eb5f45b965f751d8c21983313744b3">WBC_priority::delta_Fr</a></div><div class="ttdeci">Eigen::VectorXd delta_Fr</div><div class="ttdoc">delta_Fr to correction in DynWBC, NOT USE</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00072">wbc_priority.h:72</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a43d29119681f29138bf209c027951505"><div class="ttname"><a href="classWBC__priority.html#a43d29119681f29138bf209c027951505">WBC_priority::f_z_upp</a></div><div class="ttdeci">double f_z_upp</div><div class="ttdoc">upper bound of ground reaction force along z-axis</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00031">wbc_priority.h:31</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad031c3a10312ef84c6f587a80cf7ea16"><div class="ttname"><a href="classWBC__priority.html#ad031c3a10312ef84c6f587a80cf7ea16">WBC_priority::tau_low_L</a></div><div class="ttdeci">Eigen::Vector3d tau_low_L</div><div class="ttdoc">lower bound of ground reaction moment</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00029">wbc_priority.h:29</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a914f1b2e9a0c441a6dab2883e5e932a2"><div class="ttname"><a href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">WBC_priority::ddq_final_kin</a></div><div class="ttdeci">Eigen::VectorXd ddq_final_kin</div><div class="ttdoc">ddq result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00081">wbc_priority.h:81</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html"><div class="ttname"><a href="classPin__KinDyn.html">Pin_KinDyn</a></div><div class="ttdoc">This class implement the kinematic and dynamics of robot using pinocchio.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00028">pino_kin_dyn.h:28</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a87e42205ecc21da740cd68dd97dfc53b"><div class="ttname"><a href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">WBC_priority::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00049">wbc_priority.h:49</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ab25e91d2356c16769cc18c9355338587"><div class="ttname"><a href="classWBC__priority.html#ab25e91d2356c16769cc18c9355338587">WBC_priority::hd_l_pos_cur_W</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_cur_W</div><div class="ttdoc">current left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00063">wbc_priority.h:63</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a16c781d380edf8222b2e38225a941bf1"><div class="ttname"><a href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">WBC_priority::kin_tasks</a></div><div class="ttdeci">PriorityTasks kin_tasks</div><div class="ttdoc">kinematic tasks with priority for KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00085">wbc_priority.h:85</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad9d3684eeccb5f31dcbd0068d2d3b130"><div class="ttname"><a href="classWBC__priority.html#ad9d3684eeccb5f31dcbd0068d2d3b130">WBC_priority::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of dynamic parameter dyn_M</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00046">wbc_priority.h:46</a></div></div>
<div class="ttc" id="aclassWBC__priority_html"><div class="ttname"><a href="classWBC__priority.html">WBC_priority</a></div><div class="ttdoc">This class implements a whole body controller with priority control.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00024">wbc_priority.h:24</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a4f55ea86d606fb254b0b743161ff6fff"><div class="ttname"><a href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">WBC_priority::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">current robot generalized position</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00067">wbc_priority.h:67</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a364b8179d23d33e89296ad61e352a9db"><div class="ttname"><a href="classWBC__priority.html#a364b8179d23d33e89296ad61e352a9db">WBC_priority::Jfe_L</a></div><div class="ttdeci">Eigen::MatrixXd Jfe_L</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00053">wbc_priority.h:53</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a78ee8266d45373be050708733b7ac928"><div class="ttname"><a href="classWBC__priority.html#a78ee8266d45373be050708733b7ac928">WBC_priority::eigen_tau_Opt</a></div><div class="ttdeci">Eigen::VectorXd eigen_tau_Opt</div><div class="ttdoc">final joint torques after DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00076">wbc_priority.h:76</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a480a21e54d4f6d9ce948eaf92c7e6ea4"><div class="ttname"><a href="classWBC__priority.html#a480a21e54d4f6d9ce948eaf92c7e6ea4">WBC_priority::fe_R_rot_L_off</a></div><div class="ttdeci">Eigen::Matrix3d fe_R_rot_L_off</div><div class="ttdoc">right foot-end rotation matrix w.r.t to the body frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00084">wbc_priority.h:84</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ae7a229982a7799821b343ba032621054"><div class="ttname"><a href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">WBC_priority::Jsw</a></div><div class="ttdeci">Eigen::MatrixXd Jsw</div><div class="ttdoc">foot of swing leg Jacobian</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00059">wbc_priority.h:59</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html"><div class="ttname"><a href="classPriorityTasks.html">PriorityTasks</a></div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8h_source.html#l00048">priority_tasks.h:48</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_aad3ca89c91e596b1a89da5cbd65c1991"><div class="ttname"><a href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">WBC_priority::dJsw</a></div><div class="ttdeci">Eigen::MatrixXd dJsw</div><div class="ttdoc">foot of swing leg Jacobian time variation</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00060">wbc_priority.h:60</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ac567541e708cee14da44b5e1ff1cbd11"><div class="ttname"><a href="classWBC__priority.html#ac567541e708cee14da44b5e1ff1cbd11">WBC_priority::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00047">wbc_priority.h:47</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_af7eb60ca2fb34b7bcd10f488384e7a95"><div class="ttname"><a href="classWBC__priority.html#af7eb60ca2fb34b7bcd10f488384e7a95">WBC_priority::Q1</a></div><div class="ttdeci">Eigen::MatrixXd Q1</div><div class="ttdoc">weighted matrix of GRF and GRM in QP</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00077">wbc_priority.h:77</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a4912d86b01e6bb6b48e4f8ac60f24cce"><div class="ttname"><a href="classWBC__priority.html#a4912d86b01e6bb6b48e4f8ac60f24cce">WBC_priority::dJ_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_l</div><div class="ttdoc">jacobian time variation matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00057">wbc_priority.h:57</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a7cb65e689671b04b1b4bca685602abaa"><div class="ttname"><a href="classWBC__priority.html#a7cb65e689671b04b1b4bca685602abaa">WBC_priority::computeDdq</a></div><div class="ttdeci">void computeDdq(Pin_KinDyn &amp;kinSolver)</div><div class="ttdoc">compute the desired dq, basically the KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00287">wbc_priority.cpp:287</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a380db2c47e2752ebebe6aab083051f4f"><div class="ttname"><a href="classWBC__priority.html#a380db2c47e2752ebebe6aab083051f4f">WBC_priority::hd_r_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_cur_W</div><div class="ttdoc">current right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00066">wbc_priority.h:66</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a8cf4c0b317a325f1d8c751a8d2fa282c"><div class="ttname"><a href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">WBC_priority::miu</a></div><div class="ttdeci">double miu</div><div class="ttdoc">friction coefficient of model</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00044">wbc_priority.h:44</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a8b1444c9875e783ffff14fbbc73a3fc0"><div class="ttname"><a href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">WBC_priority::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">current robot generalized velcity</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00068">wbc_priority.h:68</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a89bb360d72ea2ceb80bcc714427978a1"><div class="ttname"><a href="classWBC__priority.html#a89bb360d72ea2ceb80bcc714427978a1">WBC_priority::tau_upp_L</a></div><div class="ttdeci">Eigen::Vector3d tau_upp_L</div><div class="ttdoc">upper bound of ground reaction moment</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00028">wbc_priority.h:28</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ac612a1dc22bf476a8e4fdb430e69eac1"><div class="ttname"><a href="classWBC__priority.html#ac612a1dc22bf476a8e4fdb430e69eac1">WBC_priority::Jfe_R</a></div><div class="ttdeci">Eigen::MatrixXd Jfe_R</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00054">wbc_priority.h:54</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a24cd63af227e80cfabfa7f9265a8270d"><div class="ttname"><a href="classWBC__priority.html#a24cd63af227e80cfabfa7f9265a8270d">WBC_priority::Q2</a></div><div class="ttdeci">Eigen::MatrixXd Q2</div><div class="ttdoc">weithted matrix of ddq in QP</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00078">wbc_priority.h:78</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a835eb7c5c5a382770ec08294bb3a072b"><div class="ttname"><a href="classWBC__priority.html#a835eb7c5c5a382770ec08294bb3a072b">WBC_priority::f_z_low</a></div><div class="ttdeci">double f_z_low</div><div class="ttdoc">lower bound of ground reaction force along z-axis</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00030">wbc_priority.h:30</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ab2950b524448c63af91ce7b713aec947"><div class="ttname"><a href="classWBC__priority.html#ab2950b524448c63af91ce7b713aec947">WBC_priority::J_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00056">wbc_priority.h:56</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_aa7fefdac3d147714609ce1bd15edf389"><div class="ttname"><a href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">WBC_priority::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00045">wbc_priority.h:45</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad7a8bfff2aa05dcedeb6e3e656d3c6fd"><div class="ttname"><a href="classWBC__priority.html#ad7a8bfff2aa05dcedeb6e3e656d3c6fd">WBC_priority::setQini</a></div><div class="ttdeci">void setQini(const Eigen::VectorXd &amp;qIni)</div><div class="ttdoc">Set the initial generalized position of robot.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00496">wbc_priority.cpp:496</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_adebd8b10447a44efc435f34d2b9d5a0d"><div class="ttname"><a href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">WBC_priority::eigen_xOpt</a></div><div class="ttdeci">Eigen::VectorXd eigen_xOpt</div><div class="ttdoc">optimized x = [ddq, fr] in DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00073">wbc_priority.h:73</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a1193aad27a9cafd2b447a91fcb252103"><div class="ttname"><a href="classWBC__priority.html#a1193aad27a9cafd2b447a91fcb252103">WBC_priority::tauJointRes</a></div><div class="ttdeci">Eigen::VectorXd tauJointRes</div><div class="ttdoc">joint torques result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00082">wbc_priority.h:82</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a63e9d9ee61900d1c7e6c7d0e023953aa"><div class="ttname"><a href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">WBC_priority::model_nv</a></div><div class="ttdeci">int model_nv</div><div class="ttdoc">size of the system generalized coordinate dq</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00027">wbc_priority.h:27</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a19c84ca7e1268b73b4de35426d026d1c"><div class="ttname"><a href="classWBC__priority.html#a19c84ca7e1268b73b4de35426d026d1c">WBC_priority::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00048">wbc_priority.h:48</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a651f35f4a14fb2dfb41356d69dbaa9c5"><div class="ttname"><a href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">WBC_priority::Jfe</a></div><div class="ttdeci">Eigen::MatrixXd Jfe</div><div class="ttdoc">Jfe = [Jfe_L.transpose() Jfe_R.transpose()].transpose()</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00052">wbc_priority.h:52</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a5c7a80ed75a31dd24a2732852f12e4b1"><div class="ttname"><a href="classWBC__priority.html#a5c7a80ed75a31dd24a2732852f12e4b1">WBC_priority::dJ_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_r</div><div class="ttdoc">jacobian time variation matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00058">wbc_priority.h:58</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a353a58b77c7d3844899a08eccfdc9630"><div class="ttname"><a href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">WBC_priority::dq_final_kin</a></div><div class="ttdeci">Eigen::VectorXd dq_final_kin</div><div class="ttdoc">dq result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00080">wbc_priority.h:80</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad7c5607f6d6a468b81cf035396ee1885"><div class="ttname"><a href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">WBC_priority::eigen_ddq_Opt</a></div><div class="ttdeci">Eigen::VectorXd eigen_ddq_Opt</div><div class="ttdoc">final ddq after DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00074">wbc_priority.h:74</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a783f18f6fb7fdde9d0a098adc816bf44"><div class="ttname"><a href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">WBC_priority::fe_L_rot_L_off</a></div><div class="ttdeci">Eigen::Matrix3d fe_L_rot_L_off</div><div class="ttdoc">left foot-end rotation matrix w.r.t to the body frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00083">wbc_priority.h:83</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_af15ff64b154c8ae1d4567cca12ce01db"><div class="ttname"><a href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">WBC_priority::Fr_ff</a></div><div class="ttdeci">Eigen::VectorXd Fr_ff</div><div class="ttdoc">feedforward ground reaction force from MPC module, Fr_ff = [fe_L, fe_R], dim = 12*1</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00070">wbc_priority.h:70</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a4440d37fa7fdd00e3b3a5df797d2271a"><div class="ttname"><a href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">WBC_priority::fe_rot_sw_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_rot_sw_W</div><div class="ttdoc">current swing foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00061">wbc_priority.h:61</a></div></div>
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